Roundabout¶

In this task, the ego-vehicle is approaching a roundabout with flowing traffic. It will follow its planned route automatically, but has to handle lane changes and longitudinal control to pass the roundabout as fast as possible while avoiding collisions.

Usage¶

env = gym.make("roundabout-v0")

Versions¶

ID	Description
`roundabout-v0`	Initial version. Same-segment neighbour search only. Preserved for reproducibility.
`roundabout-v1`	Connected-lane neighbour search enabled by default. Recommended for new experiments.
`roundabout-generic-v0`	Initial generic roundabout map. Same-segment neighbour search only.
`roundabout-generic-v1`	Generic roundabout map with connected-lane neighbour search enabled.

See Neighbour vehicles for details.

Default configuration¶

{
    "observation": {
        "type": "Kinematics",
        "absolute": True,
        "features_range": {
            "x": [-100, 100],
            "y": [-100, 100],
            "vx": [-15, 15],
            "vy": [-15, 15],
        },
    },
    "action": {
        "type": "DiscreteMetaAction",
        "target_speeds": [0, 8, 16],
    },
    "incoming_vehicle_destination": None,
    "collision_reward": -1,
    "high_speed_reward": 0.2,
    "right_lane_reward": 0,
    "lane_change_reward": -0.05,
    "normalize_reward": True,
    "duration": 11,  # [s]
    "simulation_frequency": 15,  # [Hz]
    "policy_frequency": 1,  # [Hz]
    "other_vehicles_type": "highway_env.vehicle.behavior.IDMVehicle",
    "screen_width": 600,  # [px]
    "screen_height": 600,  # [px]
    "centering_position": [0.5, 0.6],
    "scaling": 5.5,
    "show_trajectories": False,
    "render_agent": True,
    "offscreen_rendering": None
}

More specifically, it is defined in:

classmethod RoundaboutEnv.default_config() → dict[source]

Default environment configuration.

Can be overloaded in environment implementations, or by calling configure(). :return: a configuration dict

API¶

class highway_env.envs.roundabout_env.RoundaboutEnv(config: dict = None, render_mode: str | None = None)[source]¶

classmethod default_config() → dict[source]¶

Default environment configuration.

Can be overloaded in environment implementations, or by calling configure(). :return: a configuration dict